extrinsic
-0.461823 0.0125933 -0.886883 -1.23557 
-0.00989638 0.999764 0.0193495 -0.0468645 
0.886917 0.017713 -0.461589 2.06705 
0.0 0.0 0.0 1.0 

intrinsic
1161.49 0.0 961.743 
0.0 1161.49 543.535 
0.0 0.0 1.0 

0.696225 1.656225
